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close: N25B-298
This commit is contained in:
Pim Hutting
2025-11-22 11:45:32 +01:00
parent 051f904576
commit c53307530b
12 changed files with 53 additions and 212 deletions
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81
src/robot_interface/core/config.py
View File

@@ -5,23 +5,14 @@ class AgentSettings(object):
"""
Agent port configuration.
:param actuating_receiver_port: Port for receiving actuation commands.
:type actuating_receiver_port: int
:param main_receiver_port: Port for receiving main messages.
:type main_receiver_port: int
:param video_sender_port: Port used for sending video frames.
:type video_sender_port: int
:param audio_sender_port: Port used for sending audio data.
:type audio_sender_port: int
:ivar actuating_receiver_port: Port for receiving actuation commands.
:type actuating_receiver_port: int
:vartype actuating_receiver_port: int
:ivar main_receiver_port: Port for receiving main messages.
:type main_receiver_port: int
:vartype main_receiver_port: int
:ivar video_sender_port: Port used for sending video frames.
:type video_sender_port: int
:vartype video_sender_port: int
:ivar audio_sender_port: Port used for sending audio data.
:type audio_sender_port: int
:vartype audio_sender_port: int
"""
def __init__(
self,
@@ -40,31 +31,18 @@ class VideoConfig(object):
"""
Video configuration constants.
:param camera_index: Index of the camera to use.
:type camera_index: int
:param resolution: Video resolution mode.
:type resolution: int
:param color_space: Color space identifier.
:type color_space: int
:param fps: Frames per second of the video stream.
:type fps: int
:param stream_name: Name of the video stream.
:type stream_name: str
:param image_buffer: Internal buffer size for video frames.
:type image_buffer: int
:ivar camera_index: Index of the camera used.
:type camera_index: int
:vartype camera_index: int
:ivar resolution: Video resolution mode.
:type resolution: int
:vartype resolution: int
:ivar color_space: Color space identifier.
:type color_space: int
:vartype color_space: int
:ivar fps: Frames per second of the video stream.
:type fps: int
:vartype fps: int
:ivar stream_name: Name of the video stream.
:type stream_name: str
:vartype stream_name: str
:ivar image_buffer: Internal buffer size for video frames.
:type image_buffer: int
:vartype image_buffer: int
"""
def __init__(
self,
@@ -87,19 +65,12 @@ class AudioConfig(object):
"""
Audio configuration constants.
:param sample_rate: Audio sampling rate in Hz.
:type sample_rate: int
:param chunk_size: Size of audio chunks to capture/process.
:type chunk_size: int
:param channels: Number of audio channels.
:type channels: int
:ivar sample_rate: Audio sampling rate in Hz.
:type sample_rate: int
:vartype sample_rate: int
:ivar chunk_size: Size of audio chunks to capture/process.
:type chunk_size: int
:vartype chunk_size: int
:ivar channels: Number of audio channels.
:type channels: int
:vartype channels: int
"""
def __init__(self, sample_rate=16000, chunk_size=512, channels=1):
self.sample_rate = sample_rate
@@ -111,15 +82,10 @@ class MainConfig(object):
"""
Main system configuration.
:param poll_timeout_ms: Timeout for polling events, in milliseconds.
:type poll_timeout_ms: int
:param max_handler_time_ms: Maximum allowed handler time, in milliseconds.
:type max_handler_time_ms: int
:ivar poll_timeout_ms: Timeout for polling events, in milliseconds.
:type poll_timeout_ms: int
:vartype poll_timeout_ms: int
:ivar max_handler_time_ms: Maximum allowed handler time, in milliseconds.
:type max_handler_time_ms: int
:vartype max_handler_time_ms: int
"""
def __init__(self, poll_timeout_ms=100, max_handler_time_ms=50):
self.poll_timeout_ms = poll_timeout_ms
@@ -130,23 +96,14 @@ class Settings(object):
"""
Global settings container.
:param agent_settings: Agent settings instance or None for defaults.
:type agent_settings: AgentSettings | None
:param video_config: VideoConfig instance or None for defaults.
:type video_config: VideoConfig | None
:param audio_config: AudioConfig instance or None for defaults.
:type audio_config: AudioConfig | None
:param main_config: MainConfig instance or None for defaults.
:type main_config: MainConfig | None
:ivar agent_settings: Agent-related port configuration.
:type agent_settings: AgentSettings
:vartype agent_settings: AgentSettings
:ivar video_config: Video stream configuration.
:type video_config: VideoConfig
:vartype video_config: VideoConfig
:ivar audio_config: Audio stream configuration.
:type audio_config: AudioConfig
:vartype audio_config: AudioConfig
:ivar main_config: Main system-level configuration.
:type main_config: MainConfig
:vartype main_config: MainConfig
"""
def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None):
self.agent_settings = agent_settings or AgentSettings()

2
src/robot_interface/endpoints/actuation_receiver.py
View File

@@ -20,7 +20,7 @@ class ActuationReceiver(ReceiverBase):
:type port: int
:ivar _tts_service: The text-to-speech service object from the Qi session.
:vartype _tts_service: ssl.SSLSession | None
:vartype _tts_service: qi.Session | None
"""
def __init__(self, zmq_context, port=settings.agent_settings.actuating_receiver_port):

7
src/robot_interface/endpoints/audio_sender.py
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@@ -24,13 +24,13 @@ class AudioSender(SocketBase):
:type port: int
:ivar thread: Thread used for sending audio.
:type thread: threading.Thread | None
:vartype thread: threading.Thread | None
:ivar audio: PyAudio instance.
:type audio: pyaudio.PyAudio | None
:vartype audio: pyaudio.PyAudio | None
:ivar microphone: Selected microphone information.
:type microphone: dict | None
:vartype microphone: dict | None
"""
def __init__(self, zmq_context, port=settings.agent_settings.audio_sender_port):
super(AudioSender, self).__init__(str("audio")) # Convert future's unicode_literal to str
@@ -51,7 +51,6 @@ class AudioSender(SocketBase):
Will not start if no microphone is available.
"""
if not self.microphone:
logger.info("Not listening: no microphone available.")
return

14
src/robot_interface/endpoints/socket_base.py
View File

@@ -7,17 +7,20 @@ class SocketBase(object):
"""
Base class for endpoints associated with a ZeroMQ socket.
:ivar identifier: The identifier of the endpoint.
:param identifier: The identifier of the endpoint.
:type identifier: str
:ivar identifier: The identifier of the endpoint.
:vartype identifier: str
:ivar port: The port used by the socket, set by `create_socket`.
:type port: int | None
:vartype port: int | None
:ivar socket: The ZeroMQ socket object, set by `create_socket`.
:type socket: zmq.Socket | None
:vartype socket: zmq.Socket | None
:ivar bound: Whether the socket is bound or connected, set by `create_socket`.
:type bound: bool | None
:vartype bound: bool | None
"""
__metaclass__ = ABCMeta
@@ -43,8 +46,7 @@ class SocketBase(object):
:param port: The port to use.
:type port: int
:param options: A list of options to be set on the socket. The list contains tuples where the first element contains the option
and the second the value, for example (zmq.CONFLATE, 1).
:param options: A list of tuples where the first element contains the option and the second the value.
:type options: list[tuple[int, int]]
:param bind: Whether to bind the socket or connect to it.

2
src/robot_interface/endpoints/video_sender.py
View File

@@ -24,7 +24,7 @@ class VideoSender(SocketBase):
"""
Prepares arguments for retrieving video images from Pepper and starts video loop on a separate thread.
Will not start of no qi session is available.
Will not start if no qi session is available.
"""
if not state.qi_session:
logging.info("No Qi session available. Not starting video loop.")

8
src/robot_interface/state.py
View File

@@ -14,16 +14,16 @@ class State(object):
detect this via the `exit_event` property being set.
:ivar is_initialized: Flag indicating whether the state setup (exit handlers, QI session) has completed.
:type is_initialized: bool
:vartype is_initialized: bool
:ivar exit_event: A thread event used to signal all threads that the program is shutting down.
:type exit_event: threading.Event | None
:vartype exit_event: threading.Event | None
:ivar sockets: A list of ZeroMQ socket wrappers (`SocketBase`) that need to be closed during deinitialization.
:type sockets: List[SocketBase]
:vartype sockets: List[SocketBase]
:ivar qi_session: The QI session object used for interaction with the robot/platform services.
:type qi_session: None | ssl.SSLSession
:vartype qi_session: None | qi.Session
"""
def __init__(self):
self.is_initialized = False

9
src/robot_interface/utils/timeblock.py
View File

@@ -14,6 +14,15 @@ class TimeBlock(object):
exceeds this time, or if it's None, the callback function will be called with the time the
block took.
:type limit_ms: int | None
:ivar limit_ms: The number of milliseconds the block of code is allowed to take.
:vartype limit_ms: float | None
:ivar callback: The callback function that is called when the block of code is over.
:vartype callback: Callable[[float], None]
ivar start: The start time of the block, set when entering the context.
:vartype start: float | None
"""
def __init__(self, callback, limit_ms=None):
self.limit_ms = float(limit_ms) if limit_ms is not None else None

60
test/common/microphone_utils.py
View File

@@ -23,9 +23,6 @@ class MicrophoneUtils(object):
The result must contain at least "index", as this is used to identify the microphone,
and "name" for logging. It must have one or more channels (`maxInputChannels`),
and a default sample rate of at least 16000 Hz.
:param pyaudio_instance: A mocked or real PyAudio instance used to query microphone information.
:type pyaudio_instance: PyAudio
"""
result = choose_mic_default(pyaudio_instance)
assert "index" in result
@@ -47,12 +44,6 @@ class MicrophoneUtils(object):
Tests the robustness of the interactive selection when the user first enters
a non-integer value, ensuring the system prompts again without error and accepts
a valid integer on the second attempt.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
microphones = get_microphones(pyaudio_instance)
target_microphone = next(microphones)
@@ -74,12 +65,6 @@ class MicrophoneUtils(object):
"""
Tests that the interactive selection method prevents the user from entering
a negative integer as a microphone index.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
microphones = get_microphones(pyaudio_instance)
target_microphone = next(microphones)
@@ -101,12 +86,6 @@ class MicrophoneUtils(object):
"""
Tests that the interactive selection method prevents the user from entering
an index that exceeds the total number of available microphones.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
real_count = len(list(get_microphones(pyaudio_instance)))
mock_input = mocker.patch("__builtin__.raw_input", side_effect=[str(real_count), "0"])
@@ -126,12 +105,6 @@ class MicrophoneUtils(object):
Tests the core interactive functionality by simulating the selection of a
random valid microphone index and verifying that the correct microphone
information is returned.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
microphones = list(get_microphones(pyaudio_instance))
random_index = random.randrange(len(microphones))
@@ -143,6 +116,9 @@ class MicrophoneUtils(object):
assert result["index"] == microphones[random_index]["index"]
def test_choose_mic_no_arguments(self, pyaudio_instance, mocker):
"""
Tests `choose_mic_arguments` when no command-line arguments are provided,
"""
mocker.patch.object(sys, "argv", [])
result = choose_mic_arguments(pyaudio_instance)
@@ -153,12 +129,6 @@ class MicrophoneUtils(object):
"""
Tests `choose_mic_arguments` when the microphone name is passed as a separate
argument.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
for mic in get_microphones(pyaudio_instance):
mocker.patch.object(sys, "argv", ["--microphone", mic["name"]])
@@ -172,12 +142,6 @@ class MicrophoneUtils(object):
"""
Tests `choose_mic_arguments` when the microphone name is passed using an
equals sign (`--microphone=NAME`).
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
for mic in get_microphones(pyaudio_instance):
mocker.patch.object(sys, "argv", ["--microphone={}".format(mic["name"])])
@@ -191,12 +155,6 @@ class MicrophoneUtils(object):
"""
Tests `choose_mic_arguments` when a non-existent microphone name is passed
via command-line arguments, expecting the function to return None.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mocker.patch.object(sys, "argv", ["--microphone", "Surely this microphone doesn't exist"])
@@ -208,12 +166,6 @@ class MicrophoneUtils(object):
"""
Tests `choose_mic` function when a valid microphone is
specified via command-line arguments.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mic = next(get_microphones(pyaudio_instance))
mocker.patch.object(sys, "argv", ["--microphone", mic["name"]])
@@ -228,12 +180,6 @@ class MicrophoneUtils(object):
Tests `choose_mic` function when no command-line arguments
are provided, verifying that the function falls back correctly to the
system's default microphone selection.
:param pyaudio_instance: A mocked or real PyAudio instance.
:type pyaudio_instance: PyAudio
:param mocker: The fixture used for mocking built-in functions and system objects.
:type mocker: pytest_mock.plugin.MockerFixture
"""
default_mic = choose_mic_default(pyaudio_instance)
mocker.patch.object(sys, "argv", [])

27
test/unit/test_actuation_receiver.py
View File

@@ -23,9 +23,6 @@ def test_handle_unimplemented_endpoint(zmq_context):
"""
Tests that the ``ActuationReceiver.handle_message`` method can
handle an unknown or unimplemented endpoint without raising an error.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
"""
receiver = ActuationReceiver(zmq_context)
# Should not error
@@ -39,12 +36,6 @@ def test_speech_message_no_data(zmq_context, mocker):
"""
Tests that the message handler logs a warning when a speech actuation
request (`actuate/speech`) is received but contains empty string data.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
:param mocker: The pytest-mock fixture used to patch `logging.warn`.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_warn = mocker.patch("logging.warn")
@@ -58,12 +49,6 @@ def test_speech_message_invalid_data(zmq_context, mocker):
"""
Tests that the message handler logs a warning when a speech actuation
request (`actuate/speech`) is received with data that is not a string (e.g., a boolean).
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
:param mocker: The pytest-mock fixture used to patch `logging.warn`.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_warn = mocker.patch("logging.warn")
@@ -77,12 +62,6 @@ def test_speech_no_qi(zmq_context, mocker):
"""
Tests the actuation receiver's behavior when processing a speech request
but the global state does not have an active QI session.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
:param mocker: The pytest-mock fixture used to patch the global state.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")
@@ -99,12 +78,6 @@ def test_speech(zmq_context, mocker):
"""
Tests the core speech actuation functionality by mocking the QI TextToSpeech
service and verifying that it is called correctly.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
:param mocker: The pytest-mock fixture used to patch state and modules.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_state = mocker.patch("robot_interface.endpoints.actuation_receiver.state")

27
test/unit/test_audio_sender.py
View File

@@ -24,12 +24,6 @@ def zmq_context():
def test_no_microphone(zmq_context, mocker):
"""
Tests the scenario where no valid microphone can be chosen for recording.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
:param mocker: The pytest-mock fixture used to patch internal dependencies.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_info_logger = mocker.patch("robot_interface.endpoints.audio_sender.logger.info")
mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
@@ -49,12 +43,6 @@ def test_unicode_mic_name(zmq_context, mocker):
"""
Tests the robustness of the `AudioSender` when handling microphone names
that contain Unicode characters.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
:param mocker: The pytest-mock fixture used to patch internal dependencies.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mocker.patch("robot_interface.endpoints.audio_sender.threading")
mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
@@ -74,12 +62,6 @@ def test_unicode_mic_name(zmq_context, mocker):
def _fake_read(num_frames):
"""
Helper function to simulate reading raw audio data from a microphone stream.
:param num_frames: The number of audio frames requested.
:type num_frames: int
:return: A byte string containing random data, simulating audio.
:rtype: str
"""
return os.urandom(num_frames * 4)
@@ -87,9 +69,6 @@ def _fake_read(num_frames):
def test_sending_audio(mocker):
"""
Tests the successful sending of audio data over a ZeroMQ socket.
:param mocker: The pytest-mock fixture used to patch internal dependencies.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}
@@ -118,9 +97,6 @@ def test_sending_audio(mocker):
def _fake_read_error(num_frames):
"""
Helper function to simulate an I/O error during microphone stream reading.
:param num_frames: The number of audio frames requested.
:type num_frames: int
"""
raise IOError()
@@ -128,9 +104,6 @@ def _fake_read_error(num_frames):
def test_break_microphone(mocker):
"""
Tests the error handling when the microphone stream breaks (raises an IOError).
:param mocker: The pytest-mock fixture used to patch internal dependencies.
:type mocker: pytest_mock.plugin.MockerFixture
"""
mock_choose_mic = mocker.patch("robot_interface.endpoints.audio_sender.choose_mic")
mock_choose_mic.return_value = {"name": u"Some mic", "index": 0L}

18
test/unit/test_main_receiver.py
View File

@@ -20,9 +20,6 @@ def zmq_context():
def test_handle_ping(zmq_context):
"""
Tests the receiver's ability to handle the "ping" endpoint with data.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
"""
receiver = MainReceiver(zmq_context)
response = receiver.handle_message({"endpoint": "ping", "data": "pong"})
@@ -37,9 +34,6 @@ def test_handle_ping_none(zmq_context):
"""
Tests the receiver's ability to handle the ping endpoint when the
data field is explicitly set to None.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
"""
receiver = MainReceiver(zmq_context)
response = receiver.handle_message({"endpoint": "ping", "data": None})
@@ -54,12 +48,6 @@ def test_handle_ping_none(zmq_context):
def test_handle_negotiate_ports(mock_state, zmq_context):
"""
Tests the handling of the "negotiate/ports" endpoint.
:param mock_state: Mocked global application state.
:type mock_state: mock.Mock
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
"""
receiver = MainReceiver(zmq_context)
mock_state.sockets = [receiver]
@@ -85,9 +73,6 @@ def test_handle_unimplemented_endpoint(zmq_context):
"""
Tests that the receiver correctly handles a request to a completely
unknown or non-existent endpoint.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
"""
receiver = MainReceiver(zmq_context)
response = receiver.handle_message({
@@ -108,9 +93,6 @@ def test_handle_unimplemented_negotiation_endpoint(zmq_context):
The expected behavior is to return a specific "negotiate/error" response
with a descriptive error string.
:param zmq_context: The ZeroMQ context fixture.
:type zmq_context: zmq.Context
"""
receiver = MainReceiver(zmq_context)
response = receiver.handle_message({

2
test/unit/test_microphone_utils.py
View File

@@ -15,7 +15,7 @@ class MockPyAudio:
the core PyAudio methods required for device enumeration.
:ivar devices: A list of dictionaries representing mock audio devices.
:type devices: List[Dict[str, Any]]
:vartype devices: List[Dict[str, Any]]
"""
def __init__(self):
# You can predefine fake device info here